hpp::core::LockedJoint Class Reference

Implementation of Equation specific to locked joint. More...

#include <hpp/core/locked-joint.hh>

Inheritance diagram for hpp::core::LockedJoint:
Collaboration diagram for hpp::core::LockedJoint:

Public Member Functions

std::size_t rankInConfiguration () const
 Get index of locked degree of freedom in robot configuration vector. More...
 
std::size_t rankInVelocity () const
 Get index of locked degree of freedom in robot velocity vector. More...
 
std::size_t size () const
 Get the configuration size of the joint. More...
 
std::size_t numberDof () const
 Get number of degrees of freedom of the joint. More...
 
vectorIn_t value () const
 Get the value of the locked joint. More...
 
void value (vectorIn_t value)
 Set the value of the locked joint. More...
 
void rightHandSideFromConfig (ConfigurationIn_t config)
 Set the value of the locked joint from a configuration. More...
 
bool isSatisfied (ConfigurationIn_t config)
 Check whether a configuration statisfies the constraint. More...
 
const std::string & jointName () const
 Return the joint name. More...
 
- Public Member Functions inherited from hpp::core::Equation
void rightHandSide (vectorIn_t rhs)
 Set the right hand side of the equation. More...
 
vectorIn_t rightHandSide () const
 Return the right hand side of the equation. More...
 
size_type rhsSize () const
 Return the size of the right hand side constraint. More...
 
const ComparisonTypePtr_tcomparisonType () const
 Return the ComparisonType. More...
 

Static Public Member Functions

static LockedJointPtr_t create (const JointPtr_t &joint, vectorIn_t value, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Return shared pointer to new object. More...
 

Protected Member Functions

 LockedJoint (const JointPtr_t &joint, vectorIn_t value, ComparisonTypePtr_t comp=ComparisonType::createDefault())
 Constructor. More...
 
void init (const LockedJointPtr_t &self)
 
- Protected Member Functions inherited from hpp::core::Equation
 Equation (const ComparisonTypePtr_t &comp, vectorIn_t rhs)
 
vectorOut_t nonConstRightHandSide ()
 Return the right hand side of the equation. More...
 

Detailed Description

Implementation of Equation specific to locked joint.

The underlying equation is $ q_i (q) = rhs $. The right hand side of the equation is also called value.

Constructor & Destructor Documentation

◆ LockedJoint()

hpp::core::LockedJoint::LockedJoint ( const JointPtr_t joint,
vectorIn_t  value,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
)
protected

Constructor.

Parameters
jointjoint that is locked,
valueof the constant joint config,

Member Function Documentation

◆ create()

static LockedJointPtr_t hpp::core::LockedJoint::create ( const JointPtr_t joint,
vectorIn_t  value,
ComparisonTypePtr_t  comp = ComparisonType::createDefault() 
)
static

Return shared pointer to new object.

Parameters
jointjoint that is locked,
valueof the constant joint config,

◆ init()

void hpp::core::LockedJoint::init ( const LockedJointPtr_t self)
protected

◆ isSatisfied()

bool hpp::core::LockedJoint::isSatisfied ( ConfigurationIn_t  config)

Check whether a configuration statisfies the constraint.

◆ jointName()

const std::string& hpp::core::LockedJoint::jointName ( ) const
inline

Return the joint name.

References hpp::core::ComparisonType::createDefault().

◆ numberDof()

std::size_t hpp::core::LockedJoint::numberDof ( ) const

Get number of degrees of freedom of the joint.

◆ rankInConfiguration()

std::size_t hpp::core::LockedJoint::rankInConfiguration ( ) const

Get index of locked degree of freedom in robot configuration vector.

◆ rankInVelocity()

std::size_t hpp::core::LockedJoint::rankInVelocity ( ) const

Get index of locked degree of freedom in robot velocity vector.

◆ rightHandSideFromConfig()

void hpp::core::LockedJoint::rightHandSideFromConfig ( ConfigurationIn_t  config)
virtual

Set the value of the locked joint from a configuration.

Implements hpp::core::Equation.

◆ size()

std::size_t hpp::core::LockedJoint::size ( ) const

Get the configuration size of the joint.

◆ value() [1/2]

vectorIn_t hpp::core::LockedJoint::value ( ) const

Get the value of the locked joint.

◆ value() [2/2]

void hpp::core::LockedJoint::value ( vectorIn_t  value)

Set the value of the locked joint.